This paper introduces Bidirectional Tight Informed Trees (BTIT*), an asymptotically optimal kinodynamic sampling-based motion planning algorithm that integrates an anytime bidirectional heuristic search (Bi-HS) and ensures the emph{meet-in-the-middle} property (MMP) and optimality (MM-optimality). BTIT* is the first anytime MEET-style algorithm to utilize termination conditions that are efficient to evaluate and enable early termination emph{on-the-fly} in batch-wise sampling-based motion planning. Experiments show that BTIT* achieves strongly faster time-to-first-solution and improved convergence than representative emph{non-lazy} informed batch planners on two kinodynamic benchmarks: a 4D double-integrator model and a 10D linearized Quadrotor. The source code is available here.<\/p>\n","protected":false},"excerpt":{"rendered":"
This paper introduces Bidirectional Tight Informed Trees (BTIT*), an asymptotically optimal kinodynamic sampling-based motion planning algorithm that integrates an anytime bidirectional heuristic search (Bi-HS) and ensures the emph{meet-in-the-middle} property (MMP) and optimality (MM-optimality). BTIT* is the first anytime MEET-style algorithm to utilize termination conditions that are efficient to evaluate and enable early termination emph{on-the-fly} in […]<\/p>\n","protected":false},"featured_media":0,"template":"","meta":{"msr-url-field":"","msr-podcast-episode":"","msrModifiedDate":"","msrModifiedDateEnabled":false,"ep_exclude_from_search":false,"_classifai_error":"","msr-author-ordering":null,"msr_publishername":"","msr_publisher_other":"","msr_booktitle":"","msr_chapter":"","msr_edition":"","msr_editors":"","msr_how_published":"arXiv","msr_isbn":"","msr_issue":"","msr_journal":"","msr_number":"","msr_organization":"","msr_pages_string":"","msr_page_range_start":"","msr_page_range_end":"","msr_series":"","msr_volume":"","msr_copyright":"","msr_conference_name":"","msr_doi":"","msr_arxiv_id":"","msr_s2_paper_id":"","msr_mag_id":"","msr_pubmed_id":"","msr_other_authors":"","msr_other_contributors":"","msr_speaker":"","msr_award":"","msr_affiliation":"","msr_institution":"","msr_host":"","msr_version":"","msr_duration":"","msr_original_fields_of_study":"","msr_release_tracker_id":"","msr_s2_match_type":"","msr_citation_count_updated":"","msr_published_date":"2026-04-13","msr_highlight_text":"","msr_notes":"","msr_longbiography":"","msr_publicationurl":"","msr_external_url":"","msr_secondary_video_url":"","msr_conference_url":"","msr_journal_url":"","msr_s2_pdf_url":"","msr_year":0,"msr_citation_count":0,"msr_influential_citations":0,"msr_reference_count":0,"msr_s2_match_confidence":0,"msr_microsoftintellectualproperty":false,"msr_s2_open_access":false,"msr_s2_author_ids":[],"msr_pub_ids":[{"provider":"s2","id":"4e8eb1c9944cb3f52f233329f2820f4b55f54d2d"},{"provider":"arxiv","id":"2604.11587"}],"msr_hide_image_in_river":null,"footnotes":""},"msr-research-highlight":[],"research-area":[13561,13547],"msr-publication-type":[193724],"msr-publisher":[],"msr-focus-area":[],"msr-locale":[268875],"msr-post-option":[],"msr-field-of-study":[246691,249835],"msr-conference":[],"msr-journal":[],"msr-impact-theme":[],"msr-pillar":[],"class_list":["post-1168976","msr-research-item","type-msr-research-item","status-publish","hentry","msr-research-area-algorithms","msr-research-area-systems-and-networking","msr-locale-en_us","msr-field-of-study-computer-science","msr-field-of-study-robotics"],"msr_publishername":"","msr_edition":"","msr_affiliation":"","msr_published_date":"2026-04-13","msr_host":"","msr_duration":"","msr_version":"","msr_speaker":"","msr_other_contributors":"","msr_booktitle":"","msr_pages_string":"","msr_chapter":"","msr_isbn":"","msr_journal":"","msr_volume":"","msr_number":"","msr_editors":"","msr_series":"","msr_issue":"","msr_organization":"","msr_how_published":"arXiv","msr_notes":"","msr_highlight_text":"","msr_release_tracker_id":"","msr_original_fields_of_study":"","msr_download_urls":"","msr_external_url":"","msr_secondary_video_url":"","msr_longbiography":"","msr_microsoftintellectualproperty":0,"msr_main_download":"","msr_publicationurl":"","msr_doi":"","msr_publication_uploader":[{"type":"url","viewUrl":"false","id":"false","title":"https:\/\/arxiv.org\/abs\/2604.11587","label_id":"243109","label":0}],"msr_related_uploader":"","msr_citation_count":0,"msr_citation_count_updated":"","msr_s2_paper_id":"","msr_influential_citations":0,"msr_reference_count":0,"msr_arxiv_id":"","msr_s2_author_ids":[],"msr_s2_open_access":false,"msr_s2_pdf_url":null,"msr_attachments":[],"msr-author-ordering":[{"type":"text","value":"Yi Wang","user_id":0,"rest_url":false},{"type":"name","value":"Bingxian Mu","user_id":0,"rest_url":false},{"type":"name","value":"Shahab Shokouhi","user_id":0,"rest_url":false},{"type":"name","value":"May-Win L. 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